JPH09328964A - Window opening/closing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide such a window opening/closing device which judges foreign matters to be held in and interrupts the opening/closing operation of a window glass as being capable of causing no hold-in misjudgement resulting from a door with time window glass to be opened/closed. SOLUTION: A rotating number sensor 29 generates pulses at cycles corresponding to the speed of a motor and a pulse cycle calculating part 32 calculates the pulse cycles. A hold-in estimating part 36 calculates the load of the motor in accordance with the pulse cycles and estimates foreign matters to be held in when the load exceeds a preset threshold value. If the foreign matters are estimated to be held in, a drive control part 40 stops the drive of the motor and then controls reverse run to release the foreign matters held in. On the other hand, a door opened/closed detecting part 34 detects the door to be opened/closed operation and a prohibiting control part 38 prohibits hold-in estimation for a preset time after the door is opened/closed. In this way, misjudgement resulting from the door to be opened/closed is prevented.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a window opening / closing device for opening and closing a window by driving a motor, and more particularly to a window opening / closing device capable of detecting a foreign object being caught during opening and closing operations.

[0002]

2. Description of the Related Art A technique for opening and closing a window by a motor is known, and a so-called power window in which a side window of a vehicle is opened and closed by a motor is a typical example thereof. When a window is automatically opened and closed by driving a motor, it is necessary to perform control such as stopping the opening and closing operation when a foreign object is caught between the opening and closing part and the frame part. This is to prevent the foreign substance itself and the window opening / closing part from being damaged by the foreign substance being pinched.

A technique for detecting such entrapment of foreign matter is disclosed in Japanese Patent Application Laid-Open No. 5-95694. This is to generate a pulse corresponding to the rotation speed of the motor, and detect the entrapment of a foreign substance by a change in the cycle of the pulse. That is, when a foreign object is trapped, the load on the motor increases, so that the rotation speed decreases, and the trapping is detected by this decrease in the rotation speed.

[0004]

However, in the case of a vehicle door or the like, the number of rotations of the motor changes not only by the entrapment of foreign matter but also by the impact of the opening / closing operation of the door, for example. Therefore, if the door is opened / closed while the window glass is being opened / closed, there is a problem in that a change in the motor rotation speed associated with the door opening / closing operation is erroneously determined to be due to foreign matter being caught.

The present invention has been made in order to solve the above-mentioned problems, and an object thereof is to provide a window opening / closing device in which an erroneous determination of a foreign object being caught by a door opening / closing operation does not occur.

[0006]

In order to achieve the above object, a window opening / closing device according to the present invention is a window opening / closing device for opening / closing a window glass provided on a door by a motor. Pulse generating means for generating a pulse at a cycle according to speed, pulse cycle calculating means for calculating the cycle of the pulse, door opening / closing detecting means for detecting the opening / closing operation of the door, and the pulse cycle and the door opening / closing operation. On the basis of the above, there is a pinching estimation unit that estimates that the window glass has pinched a foreign substance, and a control unit that controls at least the operation of the window glass during pinching estimation when the pinch of the foreign substance is estimated. ing.

According to the above configuration, it is possible to perform control in consideration of fluctuations in the rotation speed of the motor caused by the door opening / closing operation.

Further, the entrapment estimating means may include prohibiting control means for inhibiting the entrapment estimation for a predetermined time when the door opening / closing operation is detected.

According to this structure, the estimation of the entrapment is prohibited for a predetermined time in which the fluctuation of the rotation speed of the motor caused by the opening / closing operation of the door is considered to be contained. Therefore, it is possible to avoid erroneously recognizing the change in the rotation speed due to the door opening / closing operation as the change in the rotation speed due to the entrapment of foreign matter.

Further, the entrapment estimating means estimates the entrapment when the value calculated based on the pulse period exceeds a predetermined threshold value, and when the door opening / closing operation is detected. May include threshold changing means for changing the threshold for a predetermined time.

According to this structure, the threshold value for determining whether or not a foreign matter is caught can be changed for a predetermined time after the door opening / closing operation. Therefore, it is possible to prevent erroneous recognition that a variation in the rotation speed of the motor due to the door opening / closing operation as a foreign object being caught.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows a schematic configuration of a vehicle power window. The vehicle door 10 has a main body 12, a sash 14, and a window glass 16 that slides along a guide rail 15. Window glass 16
Is substantially stored in the main body in the open state and moves from this state to a position where it comes into contact with the sash 14 to be in the closed state. The window is driven by a motor 18 to open and close. Motor 18
The drive shaft is arranged in the door main body 12 in such a direction that its drive shaft is substantially accommodated in the plane of FIG. The rotation of the motor drive shaft is transmitted via a worm gear or the like to a toothed drive pulley 20 having a rotation axis orthogonal to the paper surface. This drive pulley 20
And two driven pulleys 2 arranged vertically in the door body
A toothed belt 26 is stretched over the belts 2, 24. Further, a support fitting 28 supporting the lower end of the window glass is fixed to the toothed belt 26. Therefore,
The toothed belt 26 is rotated by the rotation of the motor, and the support fitting 28 is vertically moved between the driven pulleys 22 and 24 accordingly. Then, the window glass is opened and closed.

In such a power window,
If the closing operation is further continued in a state where the foreign matter is sandwiched between the glass and the sash during the closing operation of the window glass, the foreign matter caught between the window and the window and a drive mechanism of the window with the motor may be damaged.

In addition, during the opening operation, foreign matter may be drawn into the so-called door pocket in the door body together with the window glass and may be caught between the door body and the glass. Also at this time, there is a possibility that the foreign matter or the like may be damaged as described above. In the present embodiment, the above-described foreign object entrapment is detected, and when entrapment is detected, the motor control corresponding to the entrapment is performed.

The motor is provided with a rotation speed sensor 29 for generating a predetermined number of square pulses per rotation in order to detect the rotation speed of the motor. Therefore, the rotation speed sensor 29 functions as a pulse generation unit. The output of the rotation speed sensor 29 is sent to the control unit 30.

The control unit 30 has the structure shown in FIG.
Pulse period calculation unit 3 based on the pulse from the rotation speed sensor
2 calculates the pulse cycle. Further, the door open / close detection unit 34 detects whether the door open / close operation has been performed. Whether the door open / closed detection unit 34 is in the open state,
It is preferably composed of an existing courtesy switch for detecting whether it is in a closed state and a detection unit for detecting rising / falling of the output of the courtesy switch.
When the output of the courtesy switch rises or falls, it means that the door is opened and closed.

The entrapment estimating unit 36 estimates that a foreign object is entrapped between the window glass 16 and the window frame based on the above-described pulse period and the signal from the door opening / closing detecting unit. Specifically, the entrapment estimation unit 36 determines the motor 1 from the pulse cycle of the rotation speed sensor 29.
The load of No. 8 is calculated (the calculation method of the load will be described later), and when this load exceeds a preset threshold value, it is determined that a foreign object is trapped. However, as described above, due to the impact generated by the opening / closing operation of the door 10,
The load of the motor 18 changes. Since the rotation speed of the motor changes due to this load change, the entrapment estimation unit 36
It includes a prohibition control unit 38 that prohibits the estimation of trapping for a predetermined time when the door is opened and closed.

When the entrapment estimation unit 36 performs the entrapment estimation, the drive control unit 40 issues a control command to the motor 18 so that the motor 18 temporarily stops and then rotates for a predetermined time opposite to the current rotation. Send out. As a result, when a foreign object is caught between the window glass 16 and the sash 14, the operation of the window glass 16 is immediately stopped, and then the operation is reversed to release the caught foreign object.

FIG. 3 shows a control flowchart when the operation of closing the door is performed while the window glass 16 is being raised to close the window. First, it is determined whether the window glass 16 is rising (S1
0), the process proceeds to the next step only when it is determined that the vehicle is climbing. Next, it is determined whether 50 msec or more has elapsed since the operation of closing the door (S12). This 50
The m second is set to be slightly longer than the time in which the impact when the door is closed affects the fluctuation of the motor rotation speed, and is preferably set appropriately depending on the door structure and the like. If 50 msec has passed from the closing operation of the door, it is determined that the foreign matter is trapped (S14), and if the trapping is estimated, control is performed to lower the rising window glass (S16).

If the entrapment is not estimated in step S14, the process returns to step S10. Further, in step S12, if 50 msec has not elapsed after the door closing operation is performed, steps S14 and S16 are skipped, and the trapping determination is not performed. As a result, the trapping determination is prohibited for a predetermined time after the door closing operation, so that it is possible to prevent an erroneous determination of trapping a foreign object due to the door closing operation and to prevent the operation of the rising window glass 16 from being stopped. are doing.

FIG. 4 is a block diagram showing the configuration of another embodiment of the present invention. This embodiment is characterized by the configuration of the control unit 50 as compared with the above-mentioned embodiments. In FIG.
The components already described are given the same reference numerals and the description thereof will be omitted. The control unit 50 causes the pulse period calculation unit 52 to calculate the period from the pulse of the rotation speed sensor 29. The entrapment estimation unit 56 calculates the load on the motor 18 from this pulse cycle and estimates that a foreign object has been entrapped when this load is equal to or greater than a predetermined threshold value.
On the other hand, when the door opening / closing detection unit 34 detects the door opening / closing operation, the threshold value changing unit 58 changes the threshold value used for the trapping determination for a predetermined time. In the meantime, the entrapment estimation unit 56 estimates the entrapment of the foreign matter depending on whether the changed threshold value is equal to or greater than the load of the motor.

When it is estimated that the foreign matter is trapped, the drive control unit 60 sends a control command to the motor 18 so that the motor 18 is temporarily stopped and then rotated for a predetermined time opposite to the current rotation. As a result, the window glass 16 and the sash 14
When a foreign substance is trapped between, for example, the operation of the window glass 16 is immediately stopped, and then the reverse operation is performed to release the trapped foreign substance.

As a result, the threshold value is changed even if the motor load fluctuates during the door opening / closing operation.
The motor load is prevented from exceeding this threshold. In other words, the threshold value is changed to a value that does not detect the load variation of the motor due to the door opening / closing operation.

FIG. 5 shows a control flowchart when the door is closed while the window glass 16 is being raised to close the window. Further, FIG. 6 shows changes in the motor load, the door open / closed detection signal, and the threshold value used for the determination when the door is closed while the window glass is rising.

In the flowchart shown in FIG.
The same steps as those in the flowchart shown in FIG. A characteristic of this control flow is that the threshold value used for the trapping determination is changed when it is determined in step S12 that 50 msec has not elapsed since the door closing operation was performed. Yes (S20). That is, although the trapping is normally determined when the motor load becomes 80 N, the trapping determination is not performed until the load reaches 100 N, for example, within 50 ms after the door closing operation is performed. ing. And 5 from the door closing operation
If 0 msec has elapsed, the threshold value is returned to the initial value (80 N in this embodiment) (S22), and it is determined in step S14 whether or not a foreign matter is caught.

As shown in FIG. 6, when the output of the courtesy switch of the door 10 changes from the open state to the closed state, the control unit 50 detects this rising and changes the threshold value for 50 msec. As a result, the fluctuation of the motor load due to the door closing operation does not affect the trapping estimation. Therefore, the operation of the window glass 16 that is rising is prevented from being stopped.

The amount of change in the trapping determination threshold value described above is preferably changed appropriately because the width of the fluctuation of the motor load changes depending on the structure of the door and the like. The above example (changed from 80N to 100N) It is not limited to. In other words, it is preferable to make the change amount small enough not to detect the load variation of the motor due to the door opening / closing operation. Further, it is preferable that the time for changing the threshold value after the door opening / closing operation (50 msec in this embodiment) is also appropriately changed according to the structure of the door. Also about this time,
It is preferable to set the time as short as possible.

As described above, in the present embodiment, the threshold value is changed within the predetermined time after the door opening / closing operation, so that the load fluctuation of the motor due to the door opening / closing is erroneously recognized as the change of the motor load due to the foreign matter trapped. Is prevented. Further, even within this time, if the motor load exceeds the changed threshold value, it is determined whether or not the foreign matter is trapped, so that control according to the trapping can be performed early.

Next, the calculation of the motor load will be described with reference to the flowchart shown in FIG. Pulse at time t ₁ period T ₁ and the time pulse period T ₂ at t ₂
The load change ΔF between time t ₁ and time t ₂ from

[Equation 1] (S100). k ₁ is a proportional constant, and the actual value will be described later. Whether the load change ΔF is positive or negative is determined (S102), and if 0 or positive, the load Fp
Is

[Equation 2] It is calculated based on (S104). On the other hand, step S102
When the load change ΔF is negative, the load Fn is calculated by the following equation.

(Equation 3) It is calculated based on (S106). Further, when the load change ΔF is positive, the load Fn is updated to 0 (S108), and when the load change ΔF is negative, the load Fp is updated to 0 (S110).

The loads Fp and Fn accumulated as described above
Represents the load when the load Fp is monotonically increasing, and represents the load when the load Fn is monotonically decreasing. Hereinafter, Fp is referred to as an increasing load and Fn is referred to as a decreasing load.

The above increase in the load Fp which is calculated as is compared with the determination value F ₀ (S112), when it exceeds a determined value F _0, determines that foreign matter is sandwiched (S11
4). Then, the motor is controlled to stop so that the load does not increase any more, and the operation of the window is stopped. Also if the decision value F ₀ or less returns to step S100. As described above, in the present embodiment, the increasing load Fp is equal to the predetermined determination value F _0.
Is reached, it is determined that a foreign object has been caught.
On the other hand, when the load change amount ΔF becomes negative, the increasing load Fp integrated up to that time is set to 0, thereby eliminating an apparent increase in the integrated value due to other factors. For example, when the load change amount ΔF becomes positive due to the change in resistance due to the portion of the guide rail 15, this is not integrated. This is because such a load change is such that the increasing load Fp becomes 0 in step S110 every time the sign becomes negative repeatedly. That is, according to the above-described control, it is determined that a foreign object is caught only when the load monotonically increases and reaches a predetermined value, and erroneous determination due to other load fluctuations is prevented.

Next, the calculation of the load change amount ΔF will be described. FIG. 8 shows an equivalent circuit of the motor. Further, FIG. 9 shows the balance of forces applied to the motor. In FIG. 8, a current I flowing when a voltage E ₀ is applied to a motor having a resistance r and an inductance L is represented by the following equation 4 when the counter electromotive voltage E of the motor is used. Further, the back electromotive force E and the generated torque N of the motor are expressed by the following equation (5),
It is represented by (6).

(Equation 4) Here, k is a proportional constant. B is the magnetic flux density generated in the motor. Further, the equation of motion (7) is obtained by the balance of forces shown in FIG.

(Equation 5) By transforming equation 7,

(Equation 6) And within a short time,

(Equation 7) Holds, so from equations (4), (5), and (6),

(Equation 8) Is obtained. From this equation, it can be seen that the external force f, that is, the load of the motor, is proportional to the reciprocal of the period T. The change Δf in the external force between the time t ₁ and the time t ₂ can be obtained by defining the rotation periods at the times t ₁ and t ₂ as T ₁ ′ and T ₂ ′, respectively.

[Equation 9] Can be expressed as In the present embodiment, the change Δf in external force is a load change ΔF, and the rotation period T ′ is an integral multiple of the period of the output pulse of the rotation speed sensor. It can be seen that the equations are the same. In particular, if the pulse of the rotation speed sensor is output once per rotation, T = T ′, k ₁ = k ₁ ′, and Expression (11) and Expression (1) completely match. Also, the applied voltage E _{0 of the} motor
Does not change in a short time, so the first term in equation (10) cancels out in equation (11). Therefore, it is possible to make a determination independent of the voltage of the vehicle-mounted battery.

In the above description, the threshold value for foreign matter entrapment determination, the time for inhibiting entrapment estimation, and the time for changing the threshold value are not set separately in the door opening / closing operation. , It is possible to make a difference. Further, it is also possible to perform the above-mentioned control only on one of the opening and closing. It is also possible to separately set the threshold value, the inhibition time and the change time when the window glass is raised and when it is lowered. Further, it is also possible to perform the above-mentioned control on either one of rising and falling.

Further, in the present embodiment, when the entrapment of a foreign substance is estimated, the operation of the window glass 16 is temporarily stopped, and thereafter, the operation is controlled so that the window glass 16 is operated by a predetermined amount. It is also possible to set the control only to stop. In short, it is necessary to at least prevent the current operation from being stopped and the situation further worsened.

Further, in the present embodiment, the motor load is calculated from the change in the rotation speed of the motor, but it is also possible to directly estimate the entrapment of the foreign matter from the change in the rotation speed of the motor, that is, the change in the pulse cycle. . In this case, the foreign matter entrapment may be determined when the change amount of the pulse cycle exceeds a predetermined threshold value.

Further, although the power window for a vehicle has been described in the present embodiment, the present invention is not limited to this, and may be applied to an opening / closing mechanism of an electric window of a building, an automatic door and the like.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a window opening / closing device according to the present invention.

FIG. 2 is a configuration block diagram of an embodiment of a window opening / closing device according to the present invention.

FIG. 3 is a control flowchart of the embodiment.

FIG. 4 is a configuration block diagram of another embodiment according to the present invention.

FIG. 5 is a control flowchart of another embodiment.

FIG. 6 is a diagram showing an example of changes in a detection signal and a determination threshold value in an apparatus according to another embodiment.

FIG. 7 is a flowchart for explaining a motor load calculation method according to the embodiment of the present invention.

FIG. 8 is a diagram showing an equivalent circuit of a general motor.

FIG. 9 is a diagram showing a balance between an external force applied to a motor and a torque generated by the motor.

[Explanation of symbols]

10 doors, 12 door body, 14 sash, 16 window glass, 18 motor, 29 rotation speed sensor (pulse generation means), 30, 50 control unit, 32, 52 pulse cycle calculation unit, 34 door opening / closing detection unit, 36, 56
Entrapment estimation unit, 38 prohibition control unit, 40, 60 drive control unit, 58 threshold value changing unit.

Claims (3)

[Claims] 1. A window opening / closing device for opening and closing a window glass provided on a door by a motor, wherein pulse generation means for generating a pulse at a cycle according to the speed of the motor, and a cycle of the pulse are calculated. A pulse cycle calculation means, a door opening / closing detection means for detecting the opening / closing operation of the door, an entrapment estimating means for estimating that a window glass has entrapped a foreign matter or the like based on the pulse cycle and the door opening / closing operation, and the foreign matter A window opening / closing device comprising: a control unit that, when the trapping is estimated, controls the operation of the window glass during the trapping estimation at least. 2. The window opening / closing device according to claim 1, wherein
The window opening / closing device, wherein the entrapment estimating unit includes an inhibition control unit that inhibits entrapment estimation for a predetermined time when the door opening / closing operation is detected. 3. The window opening / closing device according to claim 1, wherein
The entrapment estimating means estimates the entrapment when a value calculated based on the pulse period exceeds a predetermined threshold value, and further, when the door opening / closing operation is detected, the threshold value is determined. A window opening / closing device including threshold changing means for changing a value for a predetermined time.